// SVN $HeadURL: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/include/footstep_planner/FootstepPlannerNode.h $
// SVN $Id: FootstepPlannerNode.h 3298 2012-09-28 11:37:38Z hornunga@informatik.uni-freiburg.de $

/*
 * A footstep planner for humanoid robots
 *
 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/footstep_planner
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_
#define FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_


#include <ros/ros.h>

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <footstep_planner/FootstepPlanner.h>
#include <footstep_planner/State.h>
#include <bipedRobin_msgs/InitialStepsService.h>
#include <bipedRobin_msgs/SetModeService.h>
#include <std_msgs/String.h>
#include <std_srvs/Empty.h>

namespace footstep_planner
{
/**
 * @brief Wrapper class for FootstepPlanner, providing callbacks for
 * the node functionality.
 */
class FootstepPlannerNodeNew
{
public:
  FootstepPlannerNodeNew();
  virtual ~FootstepPlannerNodeNew();	
	bool initialStepsCallback(bipedRobin_msgs::InitialStepsService::Request &req,  bipedRobin_msgs::InitialStepsService::Response &res);		

protected:  
	FootstepPlanner ivFootstepPlanner;
  ros::Subscriber ivGoalPoseSub;
  ros::Subscriber ivGridMapSub;
  ros::Subscriber ivStartPoseSub;
  ros::Subscriber ivRobotPoseSub;

	ros::ServiceServer initialsteps_srv;
	ros::ServiceServer replan_srv;
  ros::ServiceServer ivFootstepPlanService;
};
}
#endif  // FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_
